{
  "$type": "site.standard.document",
  "description": "In a steering assist device, a main lane keep assist current value setting unit 51 sets a main lane keep assist current value Imr* that generates main lane keep assist torque according to a lateral deviation y and a lateral deviation change rate dy/dt. A sub lane keep assist current value setting…",
  "path": "/patents/934203",
  "publishedAt": "2016-11-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/12",
    "JTEKT CORP [JP]"
  ],
  "textContent": "In a steering assist device, a main lane keep assist current value setting unit 51 sets a main lane keep assist current value Imr* that generates main lane keep assist torque according to a lateral deviation y and a lateral deviation change rate dy/dt. A sub lane keep assist current value setting unit 52 sets a sub lane keep assist current value Isr* that generates sub lane keep assist torque according to curvature ct of a target travel line Ls.",
  "title": "STEERING ASSIST DEVICE"
}